Last active
April 15, 2018 07:29
-
-
Save zevisert/f0bc9b3c979e013e004884dfd8b6e4e5 to your computer and use it in GitHub Desktop.
Demo code for sending UDP datagrams from a Logitech Attack 3 joystick to a Roomba iRobot Create
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
var GamePad = require( 'node-gamepad' ); | |
var dgram = require( 'dgram' ); | |
var controller = new GamePad('logitech/attack3'); | |
controller.connect(); | |
var socket = dgram.createSocket('udp4'); | |
socket.on('listening', function(){ | |
socket.setBroadcast(true); | |
}); | |
socket.bind(9000); | |
function map_u(x, in_min, in_max, out_min, out_max) { | |
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; | |
} | |
function constrain_u(x, min, max) { | |
if (x < min) return min; | |
else if (x > max) return max; | |
return x; | |
} | |
function cmap_u(x, in_min, in_max, out_min, out_max) { | |
return constrain_u(map_u(x, in_min, in_max, out_min, out_max), out_min, out_max); | |
} | |
function fletcher16(buf) { | |
var sum1 = 0xff, sum2 = 0xff; | |
var i = 0; | |
var len = buf.length - 2; | |
while (len) { | |
var tlen = len > 20 ? 20 : len; | |
len -= tlen; | |
do { | |
sum2 += sum1 += buf[i++]; | |
} while (--tlen); | |
sum1 = (sum1 & 0xff) + (sum1 >> 8); | |
sum2 = (sum2 & 0xff) + (sum2 >> 8); | |
} | |
/* Second reduction step to reduce sums to 8 bits */ | |
sum1 = (sum1 & 0xff) + (sum1 >> 8); | |
sum2 = (sum2 & 0xff) + (sum2 >> 8); | |
return sum2 << 8 | sum1; | |
} | |
// Buffer for packet data | |
var buf = new Uint8Array(14); | |
// Initialize | |
buf[0] = 0xFE; | |
buf[1] = 0xED; | |
buf[2] = 0x02; buf[3] = 0x00; | |
buf[4] = 0x02; buf[5] = 0x00; | |
buf[6] = 0x02; buf[7] = 0x00; | |
buf[8] = 0x02; buf[9] = 0x00; | |
buf[10] = 0x00; | |
buf[11] = 0x00; | |
buf[12] = 0; | |
buf[13] = 0; | |
controller.on('stick:move', function(obj) { | |
var valx = 1023 - cmap_u(obj.x, 0, 255, 0, 1023); | |
var valy = cmap_u(obj.y, 0, 255, 0, 1023); | |
buf[2] = (valx & 0xFF00) >> 8; | |
buf[3] = (valx & 0x00FF); | |
buf[4] = (valy & 0xFF00) >> 8; | |
buf[5] = (valy & 0x00FF); | |
} ); | |
controller.on( '1:press', function() { | |
buf[10] = 0xFF; | |
} ); | |
controller.on( '1:release', function() { | |
buf[10] = 0x00; | |
} ); | |
controller.on( '2:press', function() { | |
buf[11] = 0xFF; | |
} ); | |
controller.on( '2:release', function() { | |
buf[11] = 0x00; | |
} ); | |
setInterval(function () { | |
var checksum = fletcher16(buf); | |
buf[12] = (checksum & 0xFF00) >> 8; | |
buf[13] = checksum & 0x00FF; | |
buf[0] = 0xFE; | |
buf[1] = 0xED; | |
out = Array(14); | |
for (i = 0; i < buf.length; i ++) { | |
out[i] = Number(buf[i]).toString(16); | |
} | |
console.log(out); | |
socket.send(buf, 0, buf.length, 9000, "192.168.0.255"); | |
}, 100) | |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
{ | |
"vendorID": 1133, | |
"productID": 49684, | |
"joysticks": [ | |
{ | |
"name": "stick", | |
"x": { | |
"pin": 0 | |
}, | |
"y": { | |
"pin": 1 | |
} | |
} | |
], | |
"buttons": [ | |
{ | |
"value": 1, | |
"pin": 3, | |
"name": "1" | |
}, | |
{ | |
"value": 2, | |
"pin": 3, | |
"name": "2" | |
} | |
] | |
} |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment